Hexapod Robot Motor Controller Using FPGA

Fikri Naim, Mohd Rosli (2012) Hexapod Robot Motor Controller Using FPGA. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The project is Hexapod robot motor controller using FPGA. This project will be use a single chip system (FPGA) to control all the motors in movement of the Hexapod. FPGA is use to replace conventional microcontroller which have limited PWM signal. The movement for the Hexapod will use servo motor. Servo motor can give a natural and precise movement. With FPGA, single chip is enough to control all the servo motors. Hexapod robot is a six-legged robot with each leg consists of three servos motor that act as actuators for the movement. The main focus of this project is how the servomechanism can be generated by using FPGA based system. The algorithm movement of the Hexapod robot is closely configured and design with three main aspect. The aspects are stability, speed and synchronization of eighteen servos motor. Lastly, the project will be discussing how can FPGA based system can replace the conventional PIC microcontroller for servo motor.

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